#include <MovingFrame.hpp>
Public Member Functions | |
| MovingFrame (const Frame &frame=F_identity) | |
| virtual | ~MovingFrame () |
| bool | setFrame (const Frame &frame) |
| bool | setCallback (MovingFrameCallback _function, void *_param) |
| virtual void | updateCoordinates (const Timestamp ×tamp) |
| virtual void | updateKinematics (const Timestamp ×tamp) |
| virtual void | pushCache (const Timestamp ×tamp) |
| virtual void | initCache (Cache *_cache) |
| virtual void | finalize () |
Protected Member Functions | |
| virtual void | updateJacobian () |
Detailed Description
Definition at line 19 of file MovingFrame.hpp.
Constructor & Destructor Documentation
| iTaSC::MovingFrame::MovingFrame | ( | const Frame & | frame = F_identity | ) |
Definition at line 17 of file MovingFrame.cpp.
References e_identity_matrix, e_matrix, iTaSC::UncontrolledObject::initialize(), iTaSC::Object::m_internalPose, and iTaSC::UncontrolledObject::m_JuArray.
| iTaSC::MovingFrame::~MovingFrame | ( | ) | [virtual] |
Definition at line 26 of file MovingFrame.cpp.
Member Function Documentation
| void iTaSC::MovingFrame::finalize | ( | ) | [virtual] |
Reimplemented from iTaSC::Object.
Definition at line 30 of file MovingFrame.cpp.
References updateJacobian().
| void iTaSC::MovingFrame::initCache | ( | Cache * | _cache | ) | [virtual] |
Implements iTaSC::Object.
Definition at line 35 of file MovingFrame.cpp.
References iTaSC::Cache::addChannel(), iTaSC::frameCacheSize, and iTaSC::Object::m_cache.
| void iTaSC::MovingFrame::pushCache | ( | const Timestamp & | timestamp | ) | [virtual] |
Implements iTaSC::Object.
Definition at line 119 of file MovingFrame.cpp.
References iTaSC::Timestamp::cache, iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::substep.
Referenced by updateKinematics().
| bool iTaSC::MovingFrame::setCallback | ( | MovingFrameCallback | _function, |
| void * | _param | ||
| ) |
Definition at line 85 of file MovingFrame.cpp.
Referenced by convert_tree().
| bool iTaSC::MovingFrame::setFrame | ( | const Frame & | frame | ) |
Definition at line 79 of file MovingFrame.cpp.
References iTaSC::Object::m_internalPose.
| void iTaSC::MovingFrame::updateCoordinates | ( | const Timestamp & | timestamp | ) | [virtual] |
Implements iTaSC::UncontrolledObject.
Definition at line 92 of file MovingFrame.cpp.
References iTaSC::Timestamp::cacheTimestamp, KDL::diff(), e_zero_vector, iTaSC::Timestamp::interpolate, iTaSC::Object::m_internalPose, iTaSC::UncontrolledObject::m_xudot, iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, iTaSC::Timestamp::substep, updateJacobian(), and KDL::Twist::Zero().
| void iTaSC::MovingFrame::updateJacobian | ( | ) | [protected, virtual] |
Implements iTaSC::Object.
Definition at line 141 of file MovingFrame.cpp.
References e_matrix, iTaSC::Object::m_internalPose, iTaSC::UncontrolledObject::m_JuArray, iTaSC::Object::m_updated, KDL::Frame::p, KDL::Vector::x(), KDL::Vector::y(), and KDL::Vector::z().
Referenced by finalize(), updateCoordinates(), and updateKinematics().
| void iTaSC::MovingFrame::updateKinematics | ( | const Timestamp & | timestamp | ) | [virtual] |
Implements iTaSC::Object.
Definition at line 125 of file MovingFrame.cpp.
References KDL::Frame::Integrate(), iTaSC::Timestamp::interpolate, KDL::Rotation::Inverse(), KDL::Frame::M, iTaSC::Object::m_internalPose, pushCache(), iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::substep, and updateJacobian().
The documentation for this class was generated from the following files: